CN108408415B - Laboratory sample distribution system and laboratory automation system - Google Patents

Laboratory sample distribution system and laboratory automation system Download PDF

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Publication number
CN108408415B
CN108408415B CN201810096966.8A CN201810096966A CN108408415B CN 108408415 B CN108408415 B CN 108408415B CN 201810096966 A CN201810096966 A CN 201810096966A CN 108408415 B CN108408415 B CN 108408415B
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distribution system
laboratory
sample distribution
laboratory sample
sample container
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CN108408415A (en
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M.马利诺夫斯基
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F Hoffmann La Roche AG
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F Hoffmann La Roche AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
    • G01R19/2513—Arrangements for monitoring electric power systems, e.g. power lines or loads; Logging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N2035/00346—Heating or cooling arrangements
    • G01N2035/00445—Other cooling arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0475—Details of actuating means for conveyors or pipettes electric, e.g. stepper motor, solenoid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0477—Magnetic

Abstract

A laboratory sample distribution system, comprising: -a plurality of sample container carriers adapted to carry one or more sample containers, each sample container carrier comprising at least one magnetically active device, -a transport plane adapted to support the sample container carriers, -a plurality of electromagnetic actuators (120); -a control device; -a sensor (200); and-a monitoring device (210), the monitoring device (210) being functionally coupled to the sensor (200), wherein the monitoring device (210) is adapted to monitor the temperature of the electromagnetic actuator (120) based on the measured supply current (Id) and/or supply voltage (Udc).

Description

Laboratory sample distribution system and laboratory automation system
Technical Field
The present invention relates to a laboratory sample distribution system and a laboratory automation system.
Background
Known laboratory sample distribution systems are commonly used in laboratory automation systems to transport samples contained in sample containers between different laboratory stations.
A typical laboratory sample distribution system is disclosed in document WO 2013/064656 a 1. The system comprises: a plurality of sample container carriers adapted to carry one or more sample containers; a transport plane adapted to support a sample container carrier; a plurality of electromagnetic actuators adapted to move the sample container carriers on top of the transport plane by applying a magnetic force to the sample container carriers; and a control device configured to control movement of the sample container carrier on top of the transport plane by driving the electromagnetic actuator.
Disclosure of Invention
It is an object of the present invention to provide a laboratory sample distribution system and a laboratory automation system with increased operational reliability.
The present invention solves this object by providing a laboratory sample distribution system according to claim 1 and a laboratory automation system according to claim 9.
The laboratory sample distribution system includes a plurality of sample container carriers. The number of the plurality of sample container carriers may for example be in the range of 1 up to 1000000.
The sample container carrier is adapted to carry and/or hold and/or store one or more sample containers. The sample container is usually designed as a tube made of glass or transparent plastic and usually has an opening at the upper end. The laboratory sample container may be used for containing, storing and transporting laboratory samples, such as blood samples, (blood) serum or plasma samples, urine samples, separation colloids, blood clots (blood cells) or chemical samples. The sample container may be rotationally symmetric.
Each sample container carrier comprises at least one magnetically active device. The magnetically active device may be, for example, a permanent magnet or an electromagnet.
The laboratory sample distribution system further comprises a transport plane adapted to support or carry the sample container carriers. The transport plane may be a flat plane and the sample container carrier is placed on top of the transport plane.
The laboratory sample distribution system further comprises a plurality of electromagnetic actuators. The number of the plurality of electromagnetic actuators may be, for example, in the range of 1 up to 1000000.
The electromagnetic actuators are fixedly arranged below the transport plane, for example in rows and columns forming a grid. The electromagnetic actuator may be embodied as a coil with a ferromagnetic core. The coil may be adapted to generate a magnetic field. The magnetic field generated by the electromagnetic actuator may penetrate the transport plane. The magnetic field may interact with the magnetic field of the magnetically active means of the sample container carrier. The magnetic force exerted on the sample container carrier may be a result of the field interaction. Due to the magnetic force, the sample container carrier may slide and/or move on the transport plane. The electromagnetic actuator is thus adapted to move the sample container carrier on top of the transport plane by applying a magnetic force to the magnetically active means of the sample container carrier.
The laboratory sample distribution system further comprises a control device, for example in the form of a personal computer or a microprocessor-based control device. The control device is configured to drive the electromagnetic actuator. Each sample container carrier is movable along a path in response to a driven electromagnetic actuator. The path of the sample container carrier may be a single path.
Preferably, the laboratory sample distribution system further comprises exactly one sensor adapted to measure a supply current and/or a supply voltage directly or indirectly supplied to the respective electromagnetic actuator. The sensor may be embodied as a current sensor and/or a voltage sensor.
The respective electromagnetic actuator is supplied with electrical energy based on or independent of the respective supply current and/or supply voltage. The respective supply current and/or supply voltage depends on the temperature of the respective electromagnetic actuator, typically on the temperature of the coil of the respective electromagnetic actuator. The supply current and/or the supply voltage may be specific or identical for the respective electromagnetic actuator.
The laboratory sample distribution system further comprises a monitoring device functionally coupled to the sensor, e.g. adapted to read the measured current and/or voltage. The monitoring means are adapted to monitor the temperature of the respective electromagnetic actuator based on or in response to the respective measured current/voltage. Preferably, the monitoring means are adapted to monitor the temperature of a coil of the electromagnetic actuator.
Typically, the resistance of the respective electromagnetic actuator or electromagnetic actuator coil depends on the temperature of the respective electromagnetic actuator or electromagnetic actuator coil. The corresponding measured current and/or voltage may be used to calculate a corresponding (coil) resistance "RCoil”。
If, for example, the voltage "U" applied to the respective electromagnetic actuator is measured or known and the current I is measured, the respective coil resistance R can be calculated, for example, using the following formulaCoil：
RCoil= U / I。
As is known in the technical literature, the resistance R of the coil can be expressed as followsCoilTemperature dependence of (a):
RCoil= R20°C* (1 + α20°C*(TCoil- 20°C))，
wherein the term R20°CDenotes the resistance of the coil at 20 ℃, term α20℃Denotes the temperature coefficient of resistance of the coil, and the term TCoilIndicating the temperature of the coil. Thus, the temperature T can be adjustedCoilThe calculation is as follows:
TCoil= (RCoil- R20°C) / (R20°C* α20°C) + 20°C。
thus, the measured current and/or voltage may be used to calculate the temperature of the electromagnetic actuator.
According to an embodiment, the laboratory sample distribution system comprises a single sensor adapted to measure the supply current and/or the supply voltage in a time multiplexed or continuous and repeated manner. For example, the current and/or supply voltage of a first electromagnetic actuator may be measured by a sensor, and then the current and/or supply voltage of a second electromagnetic actuator may be measured by a sensor until the current and/or supply voltage of all electromagnetic actuators is measured by the sensor. The process then starts again with the first electromagnetic actuator.
According to an embodiment, the laboratory sample distribution system comprises a plurality (e.g. 1 to 1000) of conventional H-bridge circuits adapted to generate a drive signal, e.g. in the form of a drive voltage and/or a drive current, for the electromagnetic actuator. The drive signal may depend on the supply current and/or on the supply voltage. H-bridge circuits are well known in the art and, therefore, reference is made to the related art literature.
According to an embodiment, the laboratory sample distribution system comprises a voltage source adapted to generate an output voltage as the supply voltage, i.e. the supply voltage is the same as the output voltage. The output voltage is supplied to the H-bridge circuit. The sensor is adapted to measure one or more currents supplied to the H-bridge circuit from the voltage source. Since the supplied current depends on the temperature of the respective electromagnetic actuator, the temperature of the respective electromagnetic actuator may be determined based on the measured current.
According to an embodiment, the laboratory sample distribution system comprises at least one fan adapted to generate an air flow supplied to the electromagnetic actuator, wherein the monitoring device is adapted to monitor a correct function of the at least one fan based on the measured current and/or voltage. If the monitored temperature does not match the expected temperature profile, the fan may be eliminated from malfunctioning.
According to an embodiment, the laboratory sample distribution system comprises a memory adapted to store monitored temperature values to establish a temperature history, which may be used, for example, to check for component degradation.
According to an embodiment, the monitoring device is adapted to monitor the temperature of the electromagnetic actuator only when the electromagnetic actuator is not actively applying a magnetic force to the sample container carrier.
According to an embodiment, the electromagnetic actuator is formed as a solenoid, wherein the solenoid comprises a ferromagnetic core and a coil surrounding the ferromagnetic core, respectively. The drive signal generated by the H-bridge circuit may be applied to the coil.
The laboratory automation system comprises a plurality of laboratory stations and a laboratory sample distribution system as described above, wherein the laboratory sample distribution system is adapted for distributing sample containers between the laboratory stations.
The pre-analysis station may be adapted to perform any kind of pre-processing of the sample, sample container and/or sample container carrier.
The analysis station may be adapted to generate a measurement signal using the sample or the portion of the sample and the reagent, the measurement signal being indicative of: whether an analyte is present, and if an analyte is present, what the concentration of the analyte is.
The post-analysis station may be adapted to perform any kind of post-processing on the sample, the sample container and/or the sample container carrier.
The pre-analysis, analysis and/or post-analysis stations may include at least one of a decapping station, a recapping station, an aliquoting station, a centrifugation station, an archiving station, a pipetting station, a sorting station, a tube type identification station, a sample quality determination station, an additional buffer station, a level detection station, and a sealing/decrypting sealing station.
Drawings
The invention will be described in detail with respect to the accompanying drawings, which schematically depict embodiments of the invention. In detail:
FIG. 1 shows a laboratory automation system, an
Fig. 2 shows a schematic block diagram of a drive circuit.
Detailed Description
Fig. 1 shows a laboratory automation system 10. The laboratory automation system 10 includes a first laboratory station 20, a second laboratory station 30, and a laboratory sample distribution system 100.
Laboratory sample distribution system 100 includes a transport plane 110. Below the transport plane 110, a plurality of electromagnetic actuators 120, 125 in the form of solenoids are arranged in rows and columns. Each electromagnetic actuator comprises a coil 120 and a corresponding ferromagnetic core 125, wherein the coil 120 surrounds the corresponding ferromagnetic core 125.
A plurality of magnetic position sensors 130, embodied as hall sensors, are distributed in rows and columns on the transport plane 110.
Laboratory sample distribution system 100 further comprises a plurality of sample container carriers 140. The sample container carrier 140 may carry a corresponding sample container 145 embodied as a laboratory sample tube. It should be noted that for exemplary purposes only a single laboratory sample container carrier 140 carrying a respective sample container 145 is shown in fig. 1. The typical sample distribution system 100 includes a plurality of sample container carriers 140.
Each sample vessel carrier 140 comprises magnetically active means 141 in the form of a permanent magnet. Thus, the magnetic field generated by the electromagnetic actuators 120, 125 may drive the sample container carrier 140 over the transport plane 110.
Further, the magnetic field generated by the permanent magnet 141 of the sample container carrier 140 may be detected by the position sensor 130, such that feedback on the position of the sample container carrier 140 may be obtained.
The electromagnetic actuators 120, 125 and the position sensor 130 are electrically connected to the control device 150. The control device 150 may drive the electromagnetic actuators 120, 125 to move the sample container carriers 140 along the respective transport paths. The control means 150 may also determine the position of each sample container carrier 140.
The laboratory stations 20, 30 are arranged adjacent to the transport plane 110. It is noted that these two laboratory stations 20, 30 are shown in fig. 1 only for illustrative purposes, and that a typical laboratory automation system 10 may include more than two laboratory stations 20, 30.
Fig. 2 shows a schematic block diagram of a drive circuit of the laboratory sample distribution system 100 for driving the coil 120 of the electromagnetic actuator.
The drive circuit comprises a voltage source 230 generating an output voltage Udc having a known voltage level.
The drive circuit further comprises a plurality of H-bridge circuits 220, wherein the output voltage Udc is supplied to the H-bridge circuits 220. The depicted plurality of H-bridge circuits 220 is exemplary. It goes without saying that the driving circuit may include more than three H-bridge circuits 220 depending on the number of coils 120 required in the laboratory sample distribution system 100. Each H-bridge circuit 220 drives four coils 120. The H-bridge circuit 220 may be controlled by the control device 150.
The drive circuit further comprises a sensor 200, which sensor 200 is adapted to measure the current Id supplied from the voltage source 230 to the H-bridge circuit 220 in a time-multiplexed manner. For each coil 120, the corresponding current Id is measured while the corresponding H-bridge circuit 220 is actively driving the coil 120.
The drive circuit further comprises a monitoring device 210, which monitoring device 210 is functionally coupled to the sensor 200, wherein the monitoring device 210 is adapted to monitor the temperature of each electromagnetic actuator (or the temperature of the coil 120 of each electromagnetic actuator) based on the measured supply current Id and the known voltage Udc.
In order to monitor the temperature of the electromagnetic actuators 120, 125, the monitoring device 210 evaluates the resistance R of the respective coil 120 on the basis of the known voltage level of the output voltage Udc and the measured current IdCoil. Resistance R based on evaluationCoilThe monitoring means 210 evaluate the temperature T of the coil 120 of the electromagnetic actuator based on algorithms known in the artCoil。
The drive circuit further comprises a memory 240, the memory 240 being adapted to store the monitored temperature value.
Referring again to fig. 1, laboratory sample distribution system 100 further comprises a fan 300, which fan 300 is adapted to generate an air flow that is supplied to electromagnetic actuators 120, 125. The monitoring means 210 are adapted to monitor the correct function of the fan 300 based on the measured current Id.

Claims (9)

1. A laboratory sample distribution system (100), comprising:
-a plurality of sample container carriers (140), the plurality of sample container carriers (140) being adapted to carry one or more sample containers (145), each sample container carrier (140) comprising at least one magnetically active device (141);
-a transport plane (110), the transport plane (110) being adapted for supporting the sample container carrier (140);
-a plurality of electromagnetic actuators (120, 125), the plurality of electromagnetic actuators (120, 125) being fixedly arranged below the transport plane (110), the electromagnetic actuators (120, 125) being adapted to move the sample container carriers (140) on top of the transport plane (110) by applying a magnetic force to the sample container carriers (140); and
-a control device (150), the control device (150) being configured to control the movement of the sample container carriers (140) on top of the transport plane (110) by driving the electromagnetic actuators (120, 125) such that the sample container carriers (140) are moved along corresponding transport paths simultaneously and independently of each other,
it is characterized in that the preparation method is characterized in that,
-the laboratory sample distribution system (100) further comprises:
-a sensor (200), the sensor (200) being configured to measure a supply current (ld) and/or a supply voltage (Udc), wherein the electromagnetic actuator (120, 125) is supplied with electrical energy based on the supply current (ld) and/or the supply voltage (Udc); and
-a monitoring device (210), the monitoring device (210) being functionally coupled to the sensor (200), wherein the monitoring device (210) is adapted to monitor the temperature of the electromagnetic actuator (120, 125) based on the measured supply current (Id) and/or the measured supply voltage (Udc).
2. The laboratory sample distribution system (100) according to claim 1,
-said laboratory sample distribution system comprises exactly one sensor (200), said sensor (200) being adapted to measure said supply current (Id) and/or said supply voltage (Udc) in a time-multiplexed manner.
3. Laboratory sample distribution system (100) according to claim 1 or 2,
-the laboratory sample distribution system comprises a plurality of H-bridge circuits (220), the plurality of H-bridge circuits (220) being adapted to generate drive signals for the electromagnetic actuators (120, 125).
4. The laboratory sample distribution system (100) according to claim 3, wherein said laboratory sample distribution system (100) further comprises:
-a voltage source (230), the voltage source (230) being adapted to generate an output voltage, wherein the supply voltage (Udc) is the same as the output voltage, wherein the output voltage is supplied to the H-bridge circuit (220), wherein the sensor (200) is adapted to measure a supply current (Id) supplied from the voltage source (230) to the H-bridge circuit (220).
5. Laboratory sample distribution system (100) according to claim 1 or 2,
-the laboratory sample distribution system (100) further comprises at least one fan (300), the fan (300) being adapted to generate an air flow supplied to the electromagnetic actuator (120, 125), wherein the monitoring device (210) is adapted to monitor a correct function of the at least one fan (300) based on the measured supply current (Id) and/or supply voltage (Udc).
6. Laboratory sample distribution system (100) according to claim 1 or 2,
-the laboratory sample distribution system (100) further comprises a memory (240), the memory (240) being adapted to store the monitored temperature value.
7. Laboratory sample distribution system (100) according to claim 1 or 2,
-said monitoring means (210) is adapted to monitor the temperature of the electromagnetic actuator (120, 125) only when the electromagnetic actuator (120, 125) is not actively applying a magnetic force to the sample container carrier (140).
8. Laboratory sample distribution system (100) according to claim 1 or 2,
-the electromagnetic actuators (120, 125) are formed as solenoids, wherein the solenoids comprise a ferromagnetic core (125) and a coil (120) surrounding the ferromagnetic core (125), respectively.
9. A laboratory automation system (10), comprising:
-a plurality of laboratory stations (20, 30), and
-laboratory sample distribution system (100) according to any of the preceding claims, wherein the laboratory sample distribution system (100) is adapted for distributing the sample containers (145) between the laboratory stations (20, 30).
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